|  | @@ -399,15 +399,16 @@ static double get_pid_controller_guess(grpc_exec_ctx* exec_ctx,
 | 
	
		
			
				|  |  |    if (!tfc->pid_controller_initialized) {
 | 
	
		
			
				|  |  |      tfc->last_pid_update = now;
 | 
	
		
			
				|  |  |      tfc->pid_controller_initialized = true;
 | 
	
		
			
				|  |  | -    grpc_pid_controller_init(
 | 
	
		
			
				|  |  | -        &tfc->pid_controller,
 | 
	
		
			
				|  |  | -        (grpc_pid_controller_args){.gain_p = 4,
 | 
	
		
			
				|  |  | -                                   .gain_i = 8,
 | 
	
		
			
				|  |  | -                                   .gain_d = 0,
 | 
	
		
			
				|  |  | -                                   .initial_control_value = target,
 | 
	
		
			
				|  |  | -                                   .min_control_value = -1,
 | 
	
		
			
				|  |  | -                                   .max_control_value = 25,
 | 
	
		
			
				|  |  | -                                   .integral_range = 10});
 | 
	
		
			
				|  |  | +    grpc_pid_controller_args args;
 | 
	
		
			
				|  |  | +    memset(&args, 0, sizeof(args));
 | 
	
		
			
				|  |  | +    args.gain_p = 4;
 | 
	
		
			
				|  |  | +    args.gain_i = 8;
 | 
	
		
			
				|  |  | +    args.gain_d = 0;
 | 
	
		
			
				|  |  | +    args.initial_control_value = target;
 | 
	
		
			
				|  |  | +    args.min_control_value = -1;
 | 
	
		
			
				|  |  | +    args.max_control_value = 25;
 | 
	
		
			
				|  |  | +    args.integral_range = 10;
 | 
	
		
			
				|  |  | +    grpc_pid_controller_init(&tfc->pid_controller, args);
 | 
	
		
			
				|  |  |      return pow(2, target);
 | 
	
		
			
				|  |  |    }
 | 
	
		
			
				|  |  |    double bdp_error = target - grpc_pid_controller_last(&tfc->pid_controller);
 |